commit 74425153f10ef1b5f7b5f60f8edd375b92bd9006
author Austin Schuh <austin.linux@gmail.com> Fri Dec 21 11:37:14 2018 +1100
committer Austin Schuh <austin@peloton-tech.com> Thu Dec 20 20:34:05 2018 -0800
tree 5ecc0655b6f461f297445c9ee445fdcc2b580e52
parent 2314c81cdbc8767b4a57f2d3ba2e8373221e9247

Build hybrid velocity loop for each drivetrain

This provides a way to get to the continuous time drivetrain model from
C++ without doing crazy codegen for all gears.

Change-Id: Iadd7388b74628a94a74ec19efb972fa01efe70c9

y2018_bot3/control_loops/python/polydrivetrain.py

diff --git a/y2018_bot3/control_loops/python/polydrivetrain.py b/y2018_bot3/control_loops/python/polydrivetrain.py
index d7799ae..6037138 100644
--- a/y2018_bot3/control_loops/python/polydrivetrain.py
+++ b/y2018_bot3/control_loops/python/polydrivetrain.py
@@ -7,6 +7,8 @@
 import gflags
 import glog
 
+__author__ = 'Austin Schuh (austin.linux@gmail.com)'
+
 FLAGS = gflags.FLAGS
 
 try:
@@ -17,11 +19,11 @@
 def main(argv):
   if FLAGS.plot:
     polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
-  elif len(argv) != 5:
+  elif len(argv) != 7:
     glog.fatal('Expected .h file name and .cc file name')
   else:
-    polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], 'y2018_bot3',
-                                       drivetrain.kDrivetrain)
+    polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], argv[5:7],
+                                       'y2018_bot3', drivetrain.kDrivetrain)
 
 if __name__ == '__main__':
   argv = FLAGS(sys.argv)